@Article{yoshida:jrm:2000,
  author    = {Yoshida, Eiichi and Kokaji, Shigeru and Murata, Satoshi and Tomita, Kohji and Kurokawa, Haruhisa},
  title     = {Miniaturization of Self-reconfigurable Robotic System using Shape Memory Alloy Actuator},
  journal   = {Journal of Robotics and Mechatronics},
  year      = {2000},
  volume    = {12},
  number    = {2},
  pages     = {96--102},
  month     = {April},
  doi       = {10.20965/jrm.2000.p0096},
  url       = {https://www.researchgate.net/publication/3828280\_Miniaturized\_self-reconfigurable\_system\_using\_shape\_memory\_alloy},
  keywords  = {Modular robotic system, Self-reconfiguration, Shape memory alloy actuator, Miniature/micro robot},
  abstract  = {This paper presents a small-size self-reconfigurable modular machine using shape memory alloy (SMA). The system is designed so that various shapes can be actively formed by a group of identical mechanical units. Each mechanical unit realizes two-dimensional rotational motion by using a novel actuator mechanism composed of two SMA torsion springs which can generate sufficient motion range and torque. The size and the weight of a unit are approximately 5[cm] cube and 80[g]. The reconfiguration motion of the machine is verified by many-unit experiments. Applicability of the developed unit model to a 3-D self-reconfigurable system is also discussed.},
  publisher = {FUJI TECHNOLOGY Press LTD.}
}